CN107429666A - For the pitch that adjusts rotor blade adjustment unit and include the wind turbine of this adjustment unit - Google Patents
For the pitch that adjusts rotor blade adjustment unit and include the wind turbine of this adjustment unit Download PDFInfo
- Publication number
- CN107429666A CN107429666A CN201680014925.9A CN201680014925A CN107429666A CN 107429666 A CN107429666 A CN 107429666A CN 201680014925 A CN201680014925 A CN 201680014925A CN 107429666 A CN107429666 A CN 107429666A
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- China
- Prior art keywords
- regulation
- actuator
- adjustment unit
- load bearing
- feeding unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005259 measurement Methods 0.000 claims description 14
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- 238000009428 plumbing Methods 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 4
- 230000002349 favourable effect Effects 0.000 description 3
- 230000002787 reinforcement Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000003313 weakening effect Effects 0.000 description 2
- 241000276425 Xiphophorus maculatus Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor
- F03D1/06—Rotors
- F03D1/065—Rotors characterised by their construction elements
- F03D1/0658—Arrangements for fixing wind-engaging parts to a hub
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D7/00—Controlling wind motors
- F03D7/02—Controlling wind motors the wind motors having rotation axis substantially parallel to the air flow entering the rotor
- F03D7/022—Adjusting aerodynamic properties of the blades
- F03D7/0224—Adjusting blade pitch
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/70—Bearing or lubricating arrangements
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/70—Adjusting of angle of incidence or attack of rotating blades
- F05B2260/71—Adjusting of angle of incidence or attack of rotating blades as a function of flow velocity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/70—Adjusting of angle of incidence or attack of rotating blades
- F05B2260/74—Adjusting of angle of incidence or attack of rotating blades by turning around an axis perpendicular the rotor centre line
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/70—Adjusting of angle of incidence or attack of rotating blades
- F05B2260/76—Adjusting of angle of incidence or attack of rotating blades the adjusting mechanism using auxiliary power sources
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2260/00—Function
- F05B2260/70—Adjusting of angle of incidence or attack of rotating blades
- F05B2260/79—Bearing, support or actuation arrangements therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2270/00—Control
- F05B2270/60—Control system actuates through
- F05B2270/604—Control system actuates through hydraulic actuators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Wind Motors (AREA)
Abstract
Present invention relates generally to a kind of wind turbine with adjustable rotor blade, the propeller pitch angle of the rotor blade is adjustable.The invention particularly relates to a kind of adjustment unit for being used to adjust the propeller pitch angle of wind turbine rotor blade, the adjustment unit has gantry post, and the gantry post includes：At least two coaxial bearer rings that can be pivotably movable with respect each other；For making two bearer rings at least one regulation actuator pivotably movable with respect each other；And for the feeding unit to adjusting actuator supplying energy, wherein described at least one regulation actuator and feeding unit are arranged on the opposite side on the regulation driver load bearing component of preferably plate shape, the regulation driver load bearing component is either directly or indirectly anti-rotatably connected with one in bearer ring, and including the rotatable spring bearing for being rotatably supported at regulation actuator on load bearing component.According to the present invention, feeding unit is with regulation actuator by being connected through at least one pressure medium channel of spring bearing.
Description
Present invention relates generally to a kind of wind turbine with adjustable rotor blade, its propeller pitch angle can be conditioned.This
Invention more particularly to a kind of adjustment unit for being used to adjust the propeller pitch angle of wind turbine rotor blade, the adjustment unit have
Gantry post, the gantry post include can be pivotably movable with respect each other at least two coaxial bearer rings, for making two bearings
Ring at least one regulation actuator pivotably movable with respect each other and for adjust actuator supplying energy feeding unit, its
In, at least one regulation actuator and feeding unit are arranged on the opposite side of regulation driver load bearing component of plate shape,
The regulation driver load bearing component is either directly or indirectly anti-rotatably connected with one in bearer ring, and including being used for
Rotatable spring bearing regulation actuator being rotatably supported on load bearing component.
In modern wind turbine, the propeller pitch angle of rotor blade can be adjusted so that the flox condition of rotor blade and by
Moment of torsion caused by rotor blade is adapted to variable service condition (such as during system closing), is especially adaptable to different wind speed
And wind regime.Therefore, rotor blade generally by means of major diameter roller bearing or sliding bearing with can around its fore-aft axis
In rotor hub so that rotor blade can rotate around the longitudinal axis of its blade relative to rotor hub, and then can change
Become the propeller pitch angle of rotor blade.The adjustment unit of propeller pitch angle for adjusting rotor blade generally includes to adjust actuator, described
Regulation actuator is arranged in the region of the gantry post between rotor hub and rotor blade, and by means of at least one, preferably
The regulation actuator of linear work, by directly engaging on bearer ring or being bonded on indirectly connected component (ratio
On or connected structure member (such as reinforcing the reinforcing plate of bearer ring) such as rotor hub or rotor blade in itself),
Make two bearer rings of gantry post pivotably movable with respect each other.
Known a kind of wind turbine from document WO2012/069062A1, wherein the pitch for adjusting rotor blade
The adjustment unit at angle includes a pair of hydraulic cylinders and associated feeding unit for each rotor blade, the feeding unit
With the accumulator and control valve on loading plate, the loading plate is closed the inner ring of gantry post and resisted jointly with inner ring
It is rotatably fixed in rotor hub.The feeding unit with accumulator and control valve be fixed on the loading plate inner side,
I.e. towards on the side of rotor hub, and the pair of hydraulic cylinder is arranged on the outside of loading plate, and its side is supported by loading plate,
And the structure member that opposite side is connected by the outer shroud with gantry post supports, enabling by extend and retraction hydraulic cylinder make it is outer
Ring rotates relative to inner ring, and then can adjust the propeller pitch angle of rotor blade.
For wind turbine rotor blade similar pitch adjustment system from A2, the AU 2009/ of EP 2458209
It is known in the 337882 A1 or A2 of WO 2014/009011.
This regulation driver is characterised by its compact structure, because by that will adjust actuator and feeding unit point
It is interposed between the arrangement that the inner space surrounded by bearer ring can not be realized on homonymy of loading plate.In addition, regulation driver can
Be assembled into together with gantry post can pre-assembled component, the component is necessarily assemblied in rotor hub in the height of ventilation first
Place and being capable of precheck its operability.
Following problem is produced on the opposite side of loading plate however, feeding unit and regulation actuator are separated, that is, is carried
Plate, which must have, is used for the relatively large plumbing chase of supply connection, and it reduce the intensity of loading plate, and and then to reduce its right
In the reinforcement effect of bearer ring.The problem is also aggravated because following true, i.e., when carrying out pitch regulation, regulation actuator is relative
Rotate simultaneously in loading plate and then rotated relative to adjustment unit so that the plumbing chase for supply line must be sufficiently large with benefit
Repay pivot offset.On the other hand, it is (larger especially in rotor blade when provided with multiple regulation actuators to adjust rotor blade
And in the case that the power therefore to be controlled is larger), this may cause collision problem.
On this basis, the purpose that is based on of the present invention is, there is provided a kind of improved wind turbine and particularly for
The improved adjustment unit of the propeller pitch angle of rotor blade is adjusted, the shortcomings that to avoid prior art and advantageously improves shortcoming.
Especially, a kind of small-sized, compact adjustment unit to be provided, it weakens the structure of gantry post and intensity as small as possible, and
And avoid as far as possible in collision problem caused by rolling bearing part.
According to the present invention, the purpose is by wind turbine according to claim 14 and passes through claim
Adjustment unit described in 1 is realized.The preferred embodiments of the present invention are the themes of dependent claims.
Therefore propose：Connection from feeding unit to the supplying energy of at least one regulation actuator is integrated into rotatably
Spring bearing in, actuator block will be adjusted on regulation driver load bearing component by the spring bearing and be supported on
On one in bearer ring.According to the present invention, feeding unit is connected with regulation driver by least one pressure medium channel
Connect, the pressure medium channel passes through spring bearing.Therefore, spring bearing has dual-use function：On the one hand formed for adjusting
The rotatable pin joint of actuator, and on the other hand it provides energy for adjusting actuator from feeding unit.Thus,
Cable and flexible pipe in load bearing component do not need single plumbing chase, so as to avoid correspondingly weakening load bearing component.
In being advantageously improved in form for the present invention, the connection between feeding unit and regulation actuator can not have completely
Flexible pipe or cable.Energy supply connection and control between feeding unit and feeding unit required if necessary and regulation actuator
Connection processed can be integrated into rotatable spring bearing and only be guided by spring bearing.Supporting structure part, such as
Axle journal, there can be at least one energy supply hole, with to adjusting actuator supplying energy.Must be by independent by eliminating
The single flexible pipe of plumbing chase through spring bearing connects with cable can not only avoid weakening load bearing component, and can
It is pivotably movable with respect each other in bearer ring and adjust actuator start rotate when avoid above-mentioned collision problem because supporting structure portion
There is no any raised cable or flexible pipe for part.At least one regulation actuator can have pressure medium on the outside of it if necessary
Pipe or pipeline, such as external hydraulic tube, however, it is preferred that the flexible pipe in the absence of the load bearing component by carrying regulation actuator
Or cable.
Another in the present invention is advantageously improved in form, and not only at least one regulation actuator can relative to load bearing component
Rotationally install, and feeding unit is rotatably mounted also relative to load bearing component so that pitch is being carried out to rotor blade
During regulation and then when bearer ring is pivotably movable with respect each other, at least one regulation actuator and its feeding unit can be relative
Rotate or pivot in regulation driver load bearing component, wherein regulation actuator block is on the load bearing component.Here, supply is single
The rotatable installation of member enables in particular to and the rotatable installation of at least one regulation actuator or support combinations so that supply
Unit and regulation actuator can be rotated jointly relative to load bearing component, especially not causing feeding unit and regulation to activate
Rotation between device, but only cause the common rotation relative to load bearing component.Due in feeding unit and regulation actuator
Between without rotate deflection, can form particularly simplely feeding unit and adjust actuator between supplying energy connection.
For example, the axle journal of load bearing component can be provided through, actuator block is on the one hand adjusted on the axle journal, and
Another aspect feeding unit is fixed on the axle journal, wherein the axle journal can include at least one pressure medium channel, with
Just feeding unit is connected with regulation actuator, with to its supplying energy.The axle journal can for example pass through appropriate Roller Shaft
Hold and/or at least one appropriate sliding bearing is installed in rotation on load bearing component.The part of feeding unit, such as pump,
Electro-motor and accumulator can be combined into pre-assembled component, and the component is as integral installation on axle journal.
This axle journal also can be designed to sleeve if necessary or be designed as supporting structure part in a different manner, in institute
On the one hand regulation actuator can be supported by and on the other hand can be supported by feeding unit by stating on supporting structure part.
Especially when being provided only with unique regulation actuator to adjust the pitch of rotor blade or make bearer ring relative to each other
Rotate or when being respectively equipped with single feeding unit to multiple regulation actuators to adjust the pitch of rotor blade, regulation causes
Dynamic device and feeding unit relative to regulation driver load bearing component it is this it is common be rotatably favourable.Last composition
Scheme can for example be realized in the following way：By such as accumulator and/or the feeding unit of drivable pump form and each
Regulation actuator is associated, and the feeding unit can be separately fixed on axle journal or supporting structure part in the above described manner,
Also associated regulation actuator can be supported on the axle journal or supporting structure part.
However, in the improved form of the replacement of the present invention, it can be provided with and be used for the common of multiple regulation actuators
Feeding unit, wherein in this case, be advantageously able to feeding unit being anti-rotatably arranged on load bearing component.Therefore,
In order to realize energy supply, the rotatable spring bearing energy by adjusting the rotatable spring bearing of actuator
Enough swivel couplings with for guide pressure medium.This swivel coupling can be integrated into each spring bearing so that right
The single swivel coupling for supplying energy is provided with each regulation actuator.In the improved form of the replacement of the present invention
In, it can be set by such swivel coupling in an only spring bearing, wherein in the actuator side for passing through load bearing component
The pressure medium for being directed through swivel coupling can be distributed on different regulation actuators by appropriate distributor, and wherein
Regulation actuator by planet or it is continuously coupled in a manner of arrange.
Regulation actuator can hydraulically be arranged in parallel or also can be for master and slave devices in series from feeding unit
Feed.
If two regulation actuators are provided with a manner of being proposed, then the regulation actuator can be mutually arranged in
Rotate in opposite direction each other, enabling make one in regulation actuator to extend and make another in regulation actuator
It is individual to retract so that two bearer rings are pivotably movable with respect each other.It is significantly smaller thus, it is possible to avoid swing space and accumulator
Ground is formed.
But alternately or in addition, at least two regulation actuators can be also provided with, the regulation actuator is set
Into running in same direction each other simultaneously so that two regulation actuators can extend and/or retract two simultaneously and adjust actuating
Device, to rotate two bearer rings.
In another embodiment of the invention, at least one regulation actuator or multiple regulation actuators and thereon are supported
Being provided with the regulation driver load bearing component of feeding unit can basically constitute as plate in the improved form of the present invention
Shape or dish type, and/or extend with the pivot center for extending substantially transversely to gantry post, and/or in bearer ring in the form of lid
In one on extend.Especially, the load bearing component can extend on portion within the bearing, and/or with it is multiple, especially with
Relative bearer ring section connection, wherein can be provided with the composition scheme of the load bearing component of tabular to surrounding on bearer ring
Or multiple connection.Load bearing component can have the platy structure of flat nearly singular integral, and/or load-carrying ring is substantially completely
Ground or it is at least most of close, but it can also be designed to the shape of framework or grid or is only made up of pillar.Favorably
Ground, the load bearing component form fastening element, and the fastening element reinforces bearer ring and/or the bearing recess of rotor hub, with
Anti- torsion, wherein on the load bearing component advantageously for example can be rigidly fixed in bearer ring by some bolts one
And/or on the bearing recess of rotor hub.
On the other hand at least one regulation actuator being supported on the load bearing component can be propped up either directly or indirectly
On another bearer ring, another bearer ring can rotate relative to the bearer ring fixed to the load bearing component for support so that
By extending or retracting or by operating regulation actuator the two bearer rings can be made pivotably movable with respect each other.Regulation actuating
Device advantageously can be connected to the bearer ring by means of another rotatable spring bearing, and the spring bearing will be adjusted and activated
Device is rotatably supported on bearer ring.The spring bearing can be directly attached to bearer ring, or with for example in bearing flange
Or support bracket fastened form is connected to the intermediate member being connected with bearer ring.
Preferably, can by means of supporting part by it is at least one regulation actuator be directly or indirectly hinged on it is described another
On bearer ring, the support member --- it is different from the load bearing component proposed before, on the load bearing component proposed before described
Another pin joint provided with regulation actuator --- vacate in the middle part of bearing, and with the bearer ring only in the hinge of regulation actuator
Connect, i.e., be not connected with relative or other bearer ring sections especially in the region connect.In the unilateral support member
Rotatable or be hinged spring bearing can be provided with, to support regulation actuator, the support member can be configured to supporting methods
Blue or fixed support, but can also be configured to overall bearer ring section.By will regulation actuator unilaterally, to vacate axle
The mode for holding middle part is hinged on another bearer ring, on the one hand can realize the good of at least one regulation actuator
Accessibility, on the other hand can also realize power suitably, be applied directly on bearer ring.In addition, it is regulation actuator
Regulation path as long as possible is provided, the regulation path ensures the wide adjustable range in the case of no collision problem.
In the improved form of replacement, it is also proposed that：Another load bearing component is anti-rotatably connected with another bearer ring, institute
Regulation actuator is stated to be bonded on another load bearing component.Another load bearing component can be configured in a manner of proposing before
Shape of a small plate or disk, or with another structure and/or reinforcement feature is formed, the reinforcement feature is connected to described in the form of covering
Bearer ring, or can be fixed on rotor blade in the region of its bearing recess.
However, regulation actuator is directly or indirectly fixed on bearer ring in a manner of proposing before allows at least one
Individual regulation actuator is accommodated in favourable position, and enough regulation paths are provided for it.Furthermore it is possible to by light knot
Structure realizes direct power transmission.
In the improved form of the present invention, the outer shroud of gantry post can be connected with rotor hub and inner ring can be with rotor leaf
Piece connects.In principle, also it can be considered that the oppositely setting of bearer ring.However, the connection of inner ring and rotor blade will be helpful to
It is connected to rotor hub or on pitch thereon.
Load bearing component can advantageously be connected with outer shroud and/or is connected with rotor hub, especially be connected in a manner of anti-rotating,
At least one regulation actuator and its feeding unit are installed on the load bearing component, wherein at least one regulation actuator exists
In this case then it is supported on by its second pin joint in the inner ring of gantry post.However, the improvement shape of the replacement in the present invention
Also the load bearing component can be anti-rotatably connected with inner ring in formula, wherein at least one regulation actuator props up in this case
Support is on outer shroud.
The present invention another improved form in, for support it is at least one regulation actuator spring bearing instead of or
Can also have the form of signal lead, in particular signal line, the signal lead in addition to the energy supply lead
The regulation path system and/or regulation angle system and feeding unit that to be arranged on regulation actuator connected are in
Control unit connection on the opposite side of load bearing component.Therefore, spring bearing can have triple functions：To regulation actuator
Rotatable be hinged, energy supply and signal transmission.
Especially, the rotational motion that the regulation for detecting at least one regulation actuator is moved and/or is generated by it
The path measurements system includes the angular transducer being integrated into spring bearing and/or is integrated into linear in regulation actuator
Path measurements sensor, wherein the signal line from angular transducer and/or path measurements sensor is for example by means of cunning
Dynamic contact or appropriate signal line pass through spring bearing to be connected to feeding unit.
Below, the present invention is elaborated by preferred embodiment and referring to the drawings, in the accompanying drawings：
Fig. 1 shows the wind-force whirlpool of favourable rotor blade embodiment, having adjustable pitch according to the present invention
The schematic perspective view of turbine,
Fig. 2 show gantry post and it is wherein integrated, for making two bearer rings regulation driver pivotably movable with respect each other
Stereogram schematic diagram,
Fig. 3 shows the top view of the gantry post and associated regulation actuator shown in Fig. 2,
Fig. 4 shows the top view of the feeding unit of regulation driver, and the feeding unit is relative with regulation actuator
It is arranged on side on the load bearing component of plate shape,
Fig. 5 shows similar to Fig. 2, gantry post and the top view for adjusting actuator being provided with, wherein adjusting actuator
Set in a manner of direction opposite each other is run,
Fig. 6 shows similar Fig. 3 and Fig. 5, gantry post top view, wherein regulation actuator only wraps in this embodiment
A regulation actuator is included, and feeding unit is installed in rotation on the load bearing component of plate shape together with regulation actuator,
Fig. 7 show for by the regulation actuator block shown in Fig. 6 on load bearing component, the axle that is rotatably mounted
The schematic cross-sectional view of neck, the wherein section view illustrate the hydraulic channel to regulation actuator supply pressure medium by axle journal, and
Fig. 8 shows axle journal and the schematic cross-sectional view for the hydraumatic swivel joint being integrated in, wherein in the swivel coupling
Formed with hydraulic channel, so as to allow feeding unit to be rotated relative to regulation actuator.
As shown in Fig. 1, the rotor 3 of wind turbine 1 can be rotatably mounted at gondola 24 around horizontal rotor axis
On, the gondola 24 is arranged on tower seat 2 and can surround vertical axis and rotates, so as to make rotor 3 along wind direction to determine
To.Control assembly, generator and additional energy conversion and accessory part can be installed in known manner in gondola 24.
The rotor hub 4 being arranged on gondola 24 while horizontal pivot axis can be surrounded carries multiple rotor blades 5, institute
State rotor blade 5 to be installed in rotation in rotor hub 4 around rotor blade longitudinal axis, enabling by rotor blade 5
Propeller pitch angle is matched with service condition, is especially adaptable to that wind is strong and the on-state of wind turbine.On the other hand, referring to Fig. 1, each
Rotor blade 5 is arranged in rotor hub 4 by means respectively of the so-called pitch in the form of gantry post 6.
Each pitch or gantry post 6 include at least two coaxial bearer rings 7 and 8 that can be pivotably movable with respect each other,
The pivot center of the bearer ring 7 and 8 is parallel to corresponding rotor blade longitudinal axis and/or relative to axis of rotor rotation line footpath
Extend to ground.The gantry post 6 can be formed in a variety of manners in principle, especially be formed in the form of roller bearing, wherein logical
The He of bearer ring 7 can be supported by crossing appropriate roller element (such as bearing in the form of multiple axially and radially bearings are arranged)
8.Outer collar bearing 8 can be rigidly fixed in rotor hub 4, and be able to can be carried relative to the inner bearing collar 7 of its rotation
Corresponding rotor blade 5 is rigidly attached with the rotor blade 5, but wherein opposite setting and feasible, i.e.,
Inner ring 7 can be fixed in rotor hub 4 and outer shroud 8 is fixed on rotor blade 5.
In order to adjust the propeller pitch angle of corresponding rotor blade 5 in the desired manner, by adjustment unit 10 and bearer ring 7
Associated with 8, the adjustment unit 10 is advantageously able to substantially completely be arranged on the inside surrounded by bearer ring 7 and 8
In space, and the two bearer rings 7 and 8 can be pivotably movable with respect each other.
The adjustment unit 10 can be electro-hydraulic pressure type, and wherein at least one is preferably the linear energy of regulation actuator 11
Enough by the supply pressure medium of feeding unit 12, actuator 11 is adjusted with convenient to operate.The feeding unit 12 can include can be by
The pump 14 that electro-motor 15 drives, to apply appropriate pressure medium, such as hydraulic oil.The pressure medium of application can be directly
At least one regulation actuator 11 is supplied to via the appropriate flowing controlling organization of such as valve.Advantageously, feeding unit 12 can also
Enough include at least one accumulator 13, especially at least a low pressure accumulator and at least one high-pressure accumulator, the pressure accumulation
Device or the low pressure accumulator and high-pressure accumulator can be filled or loaded by pump 14.Thus, it is possible to pass through at least one pressure accumulation
Device 13 pressure is applied to regulation actuator 11.
The pressure-loaded of at least one regulation actuator 11 advantageously controls via control device, the control device bag
Appropriate flow control apparatus, such as one or more valves 17 are included, the valve is advantageously able to combination in valve block 16, described
Pump 14 and/or at least one accumulator 13 can be connected with valve block.
Feeding unit 12 can advantageously generate hydraulic pressure self-contained unit, and the system produces the hydraulic pressure pressure to be provided in itself
Power.Feeding unit 12 only needs electric current to supply interface, to supply electric current to the electro-motor 15 for transfer tube 14.It is necessary
Control assembly, especially can be that the valve actuator of electromagnetic type and/or the Electronic Control Unit of such as circuit board can be integrated into
In feeding unit 12.
Such as Fig. 2 and 3 and Fig. 4 contrasts are shown：Feeding unit 12 and at least one regulation actuator 11 are arranged on supporting part
Not on homonymy of part 9, the load bearing component 9 are configured to plate shape and can extend substantially transversely to the pivot center of gantry post 6 to prolong
Stretch.The load bearing component 9 is advantageously able to that the reinforcing member for reinforcing the bearer ring is rigidly attached and formed with bearer ring
Part, the bearer ring are fixedly secured in rotor hub 4.The load bearing component 9 can for example form a kind of lid or wall, the lid
Or wall can substantially completely close bearer ring 8, wherein in load bearing component 9 can be provided with safeguard through hole, so as to from turn
Sub- hub 4 enters the inside of rotor blade 5, wherein described safeguard that through hole can also be closed by lid OR gate if necessary.
Advantageously, at least one regulation actuator 11 is arranged on the rotor blade side of load bearing component 9 and feeding unit
12 are arranged on the rotor hub side of load bearing component 9, and wherein feeding unit 12 and at least one regulation actuator 11 have overall flat
Smooth longitudinal structure, and the pivot center that may be arranged to make its longitudinal extending axis extend substantially transversely to gantry post 6 and/or
Parallel to the extension of load bearing component 9, referring to Fig. 2 to 6.
As shown in Figures 2 and 3, two regulation actuatings of cylinder unit form can be provided with according to one embodiment of the invention
Device 11, the regulation actuator is prejudicially set relative to the pivot center of gantry post 6, so as to cause rotational motion.Adjust
The section one side of actuator 11 has pin joint 25 on load bearing component 9, on the other hand in the bearer ring 7 being connected with rotor blade 5
It is upper that there is pin joint 26, wherein the pin joint 25 and 26 can be formed by pivotable or be hinged spring bearing, by institute
Stating spring bearing can either directly or indirectly be supported on regulation actuator 11 on load bearing component 9 and bearer ring 7.
As shown in figure 3, regulation actuator 11 is supported on load bearing component 9 by spring bearing 18 respectively, wherein the branch
Support bearing 18 is formed and/or rotationally formed in articulated manner, and with the pivot center parallel to gantry post 6 extremely
A few bearing pivot center.
Another pin joint 26 on bearer ring 7 is advantageously equally formed by spring bearing, and the spring bearing is with corresponding
Mode, i.e., hingedly and/or rotationally form, pivot center of its at least one pivot center parallel to gantry post.Here,
Being hinged on bearer ring 7 can be realized by articulated stand 28, the articulated stand 28 is rigidly connected with bearer ring 7.
If linear regulation actuator 11 is configured to cylinder unit, then it is advantageously supported on spring bearing 18, it is described
Spring bearing 18 is arranged on load bearing component 9, is directly passed through so as to guide to the hydraulic pressure supply in cylinder, the hydraulic pressure supply
Spring bearing 18 guides.But in principle, also it can be considered that regulation actuator 11 it is oppositely arranged, wherein can be provided with via
Piston rod introduces pressure fluid.
Multiple regulation actuators 11 can be arranged in a manner of push-push operation each other, enabling simultaneously extend two tune
Save actuator 11 and/or two regulation actuators 11 of retracting simultaneously are so that two bearer rings 7 and 8 are pivotably movable with respect each other, such as Fig. 3
It is shown.But as shown in figure 5, at least two regulation actuators 11 can be also provided with, the regulation actuator 11 is with opposite side
Rotate to each other, enabling one in elongation regulation actuator and another in regulation actuator of retracting make two
Bearer ring 7 and 8 is pivotably movable with respect each other.
As shown in fig. 6, in principle, especially when only rotating less rotor blade or there is typically only or can apply smaller
Adjusting force or during moment of torsion, only one regulation actuator also can be enough.
If multiple regulation actuators 11 are provided with according to Fig. 2 and 3 or Fig. 5, then feeding unit 12 can activate with regulation
An instrument in device is rotatably connected on load bearing component 9, as shown in Figure 4.Occur to compensate in regulation is moved
, angle skew between adjustment unit 10 and regulation actuator 11, each spring bearing 18 or the energy that is integrated in supply
Device is answered to be configured to swivel coupling 29, as shown in Figure 8.
The axle journal 19 of support regulation actuator 11 can be installed in a manner of it can surround aforementioned bearings pivot center 27 and rotate
Supported on load bearing component 9, such as by means of one or more gantry posts, the gantry post be configured to rolling bearing 30 and
Axle journal 19 is rotatably supported on load bearing component 9, referring to Fig. 8.Such as the rotatable parts in the form of push rod 21 can
Rotational engagement is coaxially set in axle journal 19, and with axle journal 19 or its bearing pivot center 27.Accommodated for example, can be provided with
Push rod 21 in the journal hole of the inside of axle journal 19, substantially cylindrical, the push rod 21 is in side from axle journal 19 towards rotor
Hub sidepiece protrudes, and can be rotated relative to axle journal 19 so that push rod 21 can with feeding unit 12, especially with its valve block 16
Connection.The feeding unit 12 rigidly or anti-rotatably can be arranged on load bearing component 9 herein.By swivel coupling 29,
Axle journal 19 can be rotated relative to the feeding unit 12 anti-rotatably installed, and then hydraulic fluid is guided to regulation actuator
11。
As shown in figure 8, the hydraulic channel 23 being arranged in rotatable parts or push rod 21 is independently of turned position and axle journal 19
In hydraulic channel 22 communicate so that regulation actuator 11 can pass through the supply pressure medium of spring bearing 18.
If only there is adjustment unit 10 a regulation actuator 11 to be used to make bearer ring 7 and 8 pivotably movable with respect each other, such as
Shown in Fig. 6, then on the one hand regulation actuator 11 prejudicially can be supported directly or indirectly respectively in a similar way
On load bearing component 9, and on the other hand it is supported on bearer ring 7, and there is corresponding pin joint 25 and 26, it is described be hinged
Point 25 and 26 is formed in a manner of be hinged or be rotatable.
Spring bearing 18 for regulation actuator 11 to be supported on load bearing component 9 also has pressure medium channel form
, integrated energy conduit.As shown in being contrasted Fig. 7 and Fig. 8, it is not necessary to swivel coupling, and feeding unit 12 can be straight
Ground connection is connected on axle journal 19 in the way of hydraulic connecting in a manner of energy connects, especially.
Advantageously, adjustment unit 10 can be anti-rotatably fixed on the axle journal 19 being rotatably mounted so that supply is single
Member 12 can rotate together with axle journal 19 and then together with regulation actuator 11 relative to load bearing component 9.Thus, supplying
Answer between unit 12 and regulation actuator 11 and angular movement or rotational motion do not occur so that feeding unit 12 can be anti-rotatably
Or it is rigidly disposed within axle journal 19.Valve block 16 can be connected directly on the hydraulic channel 22 in axle journal 19.
On the other hand, feeding unit 12 can with its all parts, such as accumulator 13 and/or pump 14 and/or electro-motor 15,
Pre-assembled component is combined into, the pre-assembled component can be used as integral installation on axle journal 19, such as by means of installation
Bearing part 31 is installed, and the installation bearing part 31 can be configured to plate (referring to Fig. 4), and on the one hand carry feeding unit 12
The part, and on the other hand can be fixed on axle journal 19.
, can be by appropriate path measurements in order to accurately control the regulation campaign of at least one regulation actuator 11
System 32 is integrated into adjustment unit 10, can be detected by the path measurements system 32 and be adjusted caused by regulation actuator 11
The rotational motion being accompanied by this of section motion and/or bearer ring 7 and 8 to each other.Thereby, it is possible to the control according to feedback and/or
The type of regulation is exported to whether the Regulate signal of valve block 16 produces corresponding regulation by corresponding path measurements signal check
Motion must carry out recalibration.
As shown in Figure 2, the path measurements system 32 is advantageously able to include one or more sensors herein, described
Sensor can be integrated at least one regulation actuator 11 and/or in its spring bearing 18.Especially, can will be linear
Path measurements sensor 33 is arranged on regulation actuator 11, is especially integrated in its cylinder unit, directly to detect tune
Save the regulation campaign of actuator 11.Alternately or in addition, angle detecting sensor 34 can be integrated into spring bearing 18,
The angle detecting sensor 34 detects axle journal 19 and/or adjusts rotation of the actuator 11 relative to load bearing component 9, to detect
Adjust the rotation that actuator 11 moves relative to the regulation of the adjoint regulation actuator 11 of load bearing component 9, the rotation or axle
The measurement that carrier ring relatively rotates to each other.
Alternately or in addition, angular transducer 35 also can directly measure turn of bearer ring 7 and 8 relative to each other
It is dynamic, it is thus that the angular transducer 35 is associated, such as being integrated into bearer ring with two bearer rings 7 and 8 one
In.
Claims (15)
1. a kind of adjustment unit, it is particularly for the propeller pitch angle of regulation wind turbine rotor blade (5), the adjustment unit bag
Gantry post (6) is included, the gantry post (6) includes：At least two coaxial bearer rings (7,8) that can be pivotably movable with respect each other,
For making described two bearer rings at least one regulation actuator (11) pivotably movable with respect each other and for the regulation
The feeding unit (12) of actuator (11) supplying energy, wherein, at least one regulation actuator (11) and the supply are single
First (12) are arranged on the opposite side of regulation driver load bearing component (9) of preferably plate shape, the regulation driver supporting part
Part (9) either directly or indirectly anti-rotatably connects and including rotatably supporting with one in the bearer ring (7,8)
The spring bearing (18) of the regulation actuator (11), it is characterised in that the adjustment unit (10) passes through at least one pressure
Medium channel (22,23) to be connected with the regulation actuator (11), and the pressure medium channel (22,23) passes through the support
Bearing (18).
2. adjustment unit according to claim 1, wherein, the feeding unit (12) and the regulation actuator (11) it
Between energy supply and/or control connection formed in a manner of without flexible pipe and cable and extend only through the rotatable support shaft
(18) are held, the regulation actuator (11) is anti-rotatably supported on the regulation driver load bearing component (9).
3. the adjustment unit according to one of the claims, wherein, the feeding unit (12) causes together with the regulation
Dynamic device (11) is installed in rotation on the load bearing component (9) so that the feeding unit (12) and the regulation actuator
(11) can jointly be rotated relative to the load bearing component (9) in the case of without rotation relative to each other and/or pivot
Turn.
4. adjustment unit according to claim 3, wherein, the spring bearing (18) includes axle journal (19), the axle journal
(19) pass through the load bearing component (9) and be installed in rotation on the load bearing component (9), wherein, in the axle journal
(19) at relative end segments, on the one hand the regulation actuator (11) is anti-rotatably arranged on the axle journal (19), and
And on the other hand the feeding unit (12) is anti-rotatably arranged on the axle journal (19).
5. adjustment unit according to claim 4, wherein, the axle journal (19) includes at least one pressure medium channel
(22), the pressure medium channel (22) is used for the feeding unit (12) and described regulation actuator (11) hydraulic connecting.
6. the adjustment unit according to one of claim 1 to 2, wherein, the spring bearing (18) is returned including pressure medium
Adapter (29), the pressure medium swivel coupling (29) include two supporting members that can be pivotably movable with respect each other, pressure
Medium channel (22,23) extends on the interface of the supporting member.
7. adjustment unit according to claim 6, wherein, the swivel coupling (29) is including axle journal (19) and rotationally
Push rod (21) on the axle journal (19), wherein, at least one pressure medium channel (23) in the push rod (21)
It is fluidly coupled to each other with least one hydraulic channel (22) in the axle journal (19).
8. the adjustment unit according to one of claim 6 to 7, wherein, the feeding unit (12) is anti-rotatably arranged on
On the load bearing component (9), and by the swivel coupling (29) with can be connected relative to the axle journal (19) of its rotation.
9. the adjustment unit according to one of the claims, wherein, the feeding unit (12) together with its all parts,
Especially electro-motor (15) and/or pump (14) and/or accumulator (13) are combined into pre-assembled on installation bearing part (11)
Component, and can be used as integral installation on the load bearing component (9) or the spring bearing (18).
10. the adjustment unit according to one of the claims, wherein, for controlling at least one regulation actuator
(11) control device of regulation motion includes path measurements system (32), and the path measurements system (32) is described for detecting
The regulation motion of at least one regulation actuator (11) and/or the rotational motion being generated by it, wherein, the path measurements system
(32) include the angular transducer (34) that is integrated into the spring bearing (18) and/or be integrated into the regulation actuator (11)
In linear path measurements sensor (33), wherein, from the angular transducer (34) and/or the path measurements sensor
(33) spring bearing (18) is passed through to the signal line for the control device being arranged on the feeding unit (12).
11. the adjustment unit according to one of the claims, wherein, at least one regulation side of actuator (11) one
Face is connected in articulated manner to be anti-rotatably connected with one in the bearer ring (8) and extends within the bearing on portion
The load bearing component (9), and on the other hand be connected to another bearer ring (7) in articulated manner, wherein, described another
Bearer ring (7) is provided with support member (28), the support member (28) depart from the middle part of the bearing and only with the tune
Section actuator (11) is connected in be hinged region with the bearer ring (7).
12. the adjustment unit according to one of the claims, wherein, provided with least two regulation actuators (11), institute
State regulation actuator (11) to be arranged relative to each other, enabling make an elongation in the regulation actuator and make described
Another retraction in actuator is adjusted, so that described two bearer rings (7,8) are pivotably movable with respect each other.
13. the adjustment unit according to one of the claims, wherein, provided with least two regulation actuators (11), institute
State regulation actuator (11) to be arranged relative to each other so that described two regulation actuators (11) can extend simultaneously and/or energy
It is enough to retract simultaneously, so that described two bearer rings (7,8) are pivotably movable with respect each other.
14. one kind has the wind turbine of rotor (3), the rotor (3) includes the rotor leaf with adjustable propeller pitch angle
Piece (5), wherein, provided with the adjustment unit according to one of the claims to adjust the pitch of the rotor blade (5)
Angle.
15. wind turbine according to claim 14, wherein, the inner ring (7) and rotor blade of the gantry post (6)
(5) anti-rotatably connect, and the outer shroud (8) of the gantry post (6) is anti-rotatably connected with rotor hub, wherein, the carrying
Part (9) is anti-rotatably connected with the outer shroud (8) of the gantry post (6), at least one regulation actuator (11) branch
Support is on the load bearing component (9), and at least one regulation actuator (11) on the other hand connects in articulated manner
To the inner ring (7) of the gantry post (6), wherein, support member (28), the support member are provided with the inner ring (7)
(28) depart from and connect in the middle part of the bearing and only in the region be hinged with the regulation actuator (11) with the inner ring (7)
Connect.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE202015001902.1 | 2015-03-11 | ||
| DE202015001902.1U DE202015001902U1 (en) | 2015-03-11 | 2015-03-11 | Adjustment unit for pitch adjustment of a rotor blade and wind turbine with such an adjustment |
| PCT/EP2016/000409 WO2016142055A1 (en) | 2015-03-11 | 2016-03-08 | Control unit for controlling the pitch of a rotor blade, and a wind turbine comprising such a control unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107429666A true CN107429666A (en) | 2017-12-01 |
| CN107429666B CN107429666B (en) | 2019-05-10 |
Family
ID=55486619
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680014925.9A Active CN107429666B (en) | 2015-03-11 | 2016-03-08 | For adjusting the adjusting unit of the pitch of rotor blade and including this wind turbine for adjusting unit |
| CN201680015034.5A Active CN107429667B (en) | 2015-03-11 | 2016-03-08 | For adjusting the adjusting unit of the pitch of rotor blade and including this wind turbine for adjusting unit |
| CN201910527389.8A Pending CN110285019A (en) | 2015-03-11 | 2016-03-08 | Adjust unit and the wind turbine including the adjusting unit |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680015034.5A Active CN107429667B (en) | 2015-03-11 | 2016-03-08 | For adjusting the adjusting unit of the pitch of rotor blade and including this wind turbine for adjusting unit |
| CN201910527389.8A Pending CN110285019A (en) | 2015-03-11 | 2016-03-08 | Adjust unit and the wind turbine including the adjusting unit |
Country Status (7)
| Country | Link |
|---|---|
| US (2) | US10794361B2 (en) |
| EP (2) | EP3268604B1 (en) |
| CN (3) | CN107429666B (en) |
| DE (2) | DE202015001902U1 (en) |
| DK (2) | DK3268604T3 (en) |
| ES (2) | ES2818140T3 (en) |
| WO (2) | WO2016142054A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111936739A (en) * | 2018-03-26 | 2020-11-13 | 利勃海尔比伯拉赫零部件有限公司 | Actuator for adjusting a pitch angle of a rotor blade of a wind turbine and wind turbine having the same |
| CN112088249A (en) * | 2018-05-07 | 2020-12-15 | 利勃海尔比伯拉赫零部件有限公司 | Actuator drive for adjusting large rolling bearings |
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|---|---|---|---|---|
| DE202015001902U1 (en) * | 2015-03-11 | 2016-06-14 | Liebherr-Components Biberach Gmbh | Adjustment unit for pitch adjustment of a rotor blade and wind turbine with such an adjustment |
| EP3267033B8 (en) * | 2016-07-06 | 2019-06-19 | Siemens Gamesa Renewable Energy A/S | A wind turbine |
| CN109209763B (en) * | 2017-07-06 | 2019-11-29 | 北京金风科创风电设备有限公司 | Blade pitch changing device and method for wind generating set and wind generating set |
| US11359602B2 (en) * | 2017-07-06 | 2022-06-14 | Beijing Goldwind Science & Creation Windpower Equipment Co., Ltd. | Pitch varying device, pitch varying method and pitch varying control device for wind turbine blade and wind turbine |
| DE202019101636U1 (en) * | 2019-03-21 | 2019-08-13 | Liebherr-Components Biberach Gmbh | Seal for slewing bearings |
| DE102020103421A1 (en) * | 2020-02-11 | 2021-08-12 | Liebherr-Components Biberach Gmbh | Rolling bearing with monitoring device |
| CN113464363B (en) * | 2021-07-30 | 2022-11-01 | 上海电气风电集团股份有限公司 | Hydraulic variable pitch system for wind generating set and wind generating set |
| CN114393535B (en) * | 2022-03-14 | 2023-11-21 | 厦门双瑞风电科技有限公司 | Wind power blade deformation prevention and trial assembly tool and hub trial assembly method thereof |
| EP4290070A1 (en) * | 2022-06-08 | 2023-12-13 | Siemens Gamesa Renewable Energy A/S | Pitch bearing comprising a cover plate |
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- 2016-03-08 US US15/556,525 patent/US10590913B2/en not_active Expired - Fee Related
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- 2016-03-08 EP EP16708607.3A patent/EP3268604B1/en active Active
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- 2016-03-08 CN CN201680015034.5A patent/CN107429667B/en active Active
- 2016-03-08 EP EP16708606.5A patent/EP3268603B1/en active Active
- 2016-03-08 ES ES16708606T patent/ES2819900T3/en active Active
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| CN111936739A (en) * | 2018-03-26 | 2020-11-13 | 利勃海尔比伯拉赫零部件有限公司 | Actuator for adjusting a pitch angle of a rotor blade of a wind turbine and wind turbine having the same |
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Also Published As
| Publication number | Publication date |
|---|---|
| ES2819900T3 (en) | 2021-04-19 |
| EP3268604A1 (en) | 2018-01-17 |
| DK3268603T3 (en) | 2020-08-17 |
| DE202015001902U1 (en) | 2016-06-14 |
| US20180051671A1 (en) | 2018-02-22 |
| EP3268603A1 (en) | 2018-01-17 |
| CN107429666B (en) | 2019-05-10 |
| CN110285019A (en) | 2019-09-27 |
| US10794361B2 (en) | 2020-10-06 |
| CN107429667B (en) | 2019-05-31 |
| US10590913B2 (en) | 2020-03-17 |
| WO2016142054A1 (en) | 2016-09-15 |
| WO2016142055A1 (en) | 2016-09-15 |
| US20180051674A1 (en) | 2018-02-22 |
| DK3268604T3 (en) | 2020-09-14 |
| DE102015004349A1 (en) | 2016-09-15 |
| CN107429667A (en) | 2017-12-01 |
| ES2818140T3 (en) | 2021-04-09 |
| EP3268603B1 (en) | 2020-06-24 |
| EP3268604B1 (en) | 2020-06-17 |
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